update plot to force units

2026-09-01 16:24:12 +08:00
parent 8cacb12abc
commit e7789c86cb
31 changed files with 767 additions and 77 deletions
@@ -44,6 +44,45 @@ def test_translator_chinese_default() -> None:
    assert tr._lookup("en_US", "workflow.title") is None


+def test_read_forces_from_sensor() -> None:
+    from sensor_bench.acquisition import read_forces_from_sensor, sensor_force_calibrated
+
+    class RawSensor:
+        info = SimpleNamespace(
+            FNORMAL=1,
+            FSHEARX=2,
+            FSHEARY=3,
+            FNORMAL_RAW=4,
+            FSHEARX_RAW=5,
+            FSHEARY_RAW=6,
+            VRAW=7,
+        )
+        _force_cal_sensor_name = "box"
+
+        def read_info(self, *args):
+            return 1.1, 2.2, 3.3, 4.4, 5.5, 6.6, None
+
+    forces = read_forces_from_sensor(RawSensor())
+    assert sensor_force_calibrated(RawSensor())
+    assert forces.force_calibrated is True
+    assert forces.force_unit == "N"
+    assert forces.normal_force == 1.1
+    assert forces.normal_force_raw == 4.4
+
+    class LegacySensor:
+        info = SimpleNamespace(FNORMAL=1, FSHEARX=2, FSHEARY=3, VRAW=4)
+
+        def read_info(self, *args):
+            if len(args) == 4:
+                return 10.0, 20.0, 30.0, None
+            return 10.0, 20.0, 30.0
+
+    legacy = read_forces_from_sensor(LegacySensor())
+    assert legacy.force_calibrated is False
+    assert legacy.force_unit == "raw"
+    assert legacy.normal_force_raw == 10.0
+
+
 def test_sdk_worker_packet_mapping() -> None:
    from sensor_bench.acquisition import SdkAcquisitionWorker

@@ -104,6 +143,9 @@ def test_sdk_worker_packet_mapping() -> None:
    assert packet.normal_force == 1.0
    assert packet.shear_x == 2.0
    assert packet.shear_y == 3.0
+    assert packet.normal_force_raw == 1.0
+    assert packet.force_unit == "raw"
+    assert packet.force_calibrated is False
    assert packet.raw_frame.shape[:2] == (1080, 1920)
    assert packet.processed_frame.shape[:2] == (365, 365)

@@ -137,6 +179,7 @@ def test_force_calibration_and_plot_min_span() -> None:
 def test_list_orisys_configs_excludes_options() -> None:
    from sensor_bench.paths import (
        config_display_name,
+        list_local_sensor_bundle_names,
        list_local_sensor_config_files,
        list_orisys_configs,
        local_sensor_configs_dir,
@@ -147,11 +190,76 @@ def test_list_orisys_configs_excludes_options() -> None:
    assert "options" not in labels
    assert all(Path(e).stem.lower() != "options" for e in entries if Path(e).suffix.lower() == ".json")

+    bundles = list_local_sensor_bundle_names()
+    if bundles:
+        assert labels[0] in bundles
+
    local_ddjx = local_sensor_configs_dir() / "ddjx01.json"
    if local_ddjx.exists():
        local_files = list_local_sensor_config_files()
        assert any(p.name == "ddjx01.json" for p in local_files)
-        assert any(config_display_name(e).lower() == "ddjx01" for e in entries)
+        if "box" not in bundles:
+            assert any(config_display_name(e).lower() == "ddjx01" for e in entries)
+        else:
+            assert not any(config_display_name(e).lower() == "ddjx01" for e in entries)
+
+
+def test_default_config_prefers_box_bundle() -> None:
+    from sensor_bench.paths import (
+        config_display_name,
+        default_config_name,
+        default_ddjx01_config,
+        list_local_sensor_bundle_names,
+    )
+
+    bundles = list_local_sensor_bundle_names()
+    if not bundles:
+        return
+
+    assert default_config_name("orisys") == "box"
+    default = default_ddjx01_config()
+    assert config_display_name(default).lower() == "box"
+
+
+def test_legacy_config_force_calibration_fallback() -> None:
+    from sensor_bench.acquisition import sensor_force_calibrated
+    from sensor_bench.paths import (
+        bundle_has_force_calibration,
+        local_sensor_configs_dir,
+        resolve_force_bundle_from_config,
+    )
+
+    if not bundle_has_force_calibration("box"):
+        return
+
+    class LegacySensor:
+        pass
+
+    legacy_path = local_sensor_configs_dir() / "ddjx01.json"
+    if legacy_path.exists():
+        assert resolve_force_bundle_from_config(legacy_path) == "box"
+        assert sensor_force_calibrated(LegacySensor(), config_ref=legacy_path) is True
+
+    assert resolve_force_bundle_from_config("ddjx01") == "box"
+    assert resolve_force_bundle_from_config("prototype") == "box"
+    assert sensor_force_calibrated(LegacySensor(), config_ref="ddjx01") is True
+
+
+def test_normalize_sensor_config_ref_prefers_bundle() -> None:
+    from sensor_bench.paths import (
+        bundle_has_force_calibration,
+        local_sensor_bundle_sensor_json,
+        normalize_sensor_config_ref,
+    )
+
+    if not bundle_has_force_calibration("box"):
+        return
+
+    local_json = local_sensor_bundle_sensor_json("box")
+    assert local_json is not None
+    normalized = normalize_sensor_config_ref("ddjx01")
+    assert Path(normalized).resolve() == local_json.resolve()
+    assert normalize_sensor_config_ref("box") == str(local_json.resolve())


 def test_roi_geometry_helpers() -> None:
@@ -209,10 +317,13 @@ def test_exhibition_window_offscreen() -> None:
    assert win.sensor_combo.count() == 2
    assert win.config_combo is not None
    assert win.config_combo.count() >= 1
-    from sensor_bench.paths import list_orisys_configs
+    from sensor_bench.paths import config_display_name, default_ddjx01_config, list_orisys_configs

    installed = list_orisys_configs()
-    if "ddjx01" in installed:
+    default = default_ddjx01_config()
+    if config_display_name(default).lower() == "box":
+        assert config_display_name(win._selected_config()).lower() == "box"
+    elif "ddjx01" in installed:
        assert win.config_combo.currentData() == "ddjx01" or win._selected_config() == "ddjx01"

    win.language_combo.setCurrentIndex(1)
@@ -222,6 +333,18 @@ def test_exhibition_window_offscreen() -> None:
    assert win.btn_reset.text() == "Reset"
    assert win.show_log_check.text() == "Show log panel"
    assert "About" in win.about_action.text()
+    title0 = win.plots[0].titleLabel.text
+    assert "FN" in title0
+    assert "raw" in title0
+
+    from sensor_bench.force_calibration import CALIBRATED_FORCE_Y_MAX, CALIBRATED_FORCE_Y_MIN
+
+    win._force_calibrated = True
+    win.force_history.push(time.time(), 1.0, -2.0, 3.0)
+    win._update_plots()
+    ymin, ymax = win.plots[0].viewRange()[1]
+    assert abs(ymin - CALIBRATED_FORCE_Y_MIN) < 1e-6
+    assert abs(ymax - CALIBRATED_FORCE_Y_MAX) < 1e-6

    win.view_combo.setCurrentIndex(1)
    assert win._view_mode == "captured"
@@ -235,9 +358,13 @@ def test_exhibition_window_offscreen() -> None:
 if __name__ == "__main__":
    test_load_fixed_mode()
    test_translator_chinese_default()
+    test_read_forces_from_sensor()
    test_sdk_worker_packet_mapping()
    test_force_calibration_and_plot_min_span()
    test_list_orisys_configs_excludes_options()
+    test_default_config_prefers_box_bundle()
+    test_legacy_config_force_calibration_fallback()
+    test_normalize_sensor_config_ref_prefers_bundle()
    test_roi_geometry_helpers()
    test_exhibition_window_offscreen()
    print("ok")